The European Physical Journal Special Topics

, Volume 226, Issue 10, pp 2393–2406 | Cite as

Design and implementation of fuzzy-PD controller based on relation models: A cross-entropy optimization approach

  • D. N. Anisimov
  • Thai Son Dang
  • Santo Banerjee
  • The Anh Mai
Regular Article
Part of the following topical collections:
  1. Aspects of Statistical Mechanics and Dynamical Complexity


In this paper, an intelligent system use fuzzy-PD controller based on relation models is developed for a two-wheeled self-balancing robot. Scaling factors of the fuzzy-PD controller are optimized by a Cross-Entropy optimization method. A linear Quadratic Regulator is designed to bring a comparison with the fuzzy-PD controller by control quality parameters. The controllers are ported and run on STM32F4 Discovery Kit based on the real-time operating system. The experimental results indicate that the proposed fuzzy-PD controller runs exactly on embedded system and has desired performance in term of fast response, good balance and stabilize.


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Copyright information

© EDP Sciences and Springer 2017

Authors and Affiliations

  1. 1.Department of Control and InformaticsMoscow Power Engineering InstituteMoscowRussia
  2. 2.Department of Electronics and TelecommunicationsVinh UniversityNghe AnVietnam
  3. 3.Institute for Mathematical Research, Universiti Putra MalaysiaSelangorMalaysia

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